Dynamics: Vector Mechanics For Engineers

Tenth Edition
CHAPTER VECTOR MECHANICS FOR ENGINEERS:
11 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of Particles
Lecture Notes:
Brian P. Self
California Polytechnic State University
© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Contents
Introduction Graphical Solution of Rectilinear-
Rectilinear Motion: Position, Motion Problems
Velocity & Acceleration Other Graphical Methods
Determination of the Motion of a Curvilinear Motion: Position, Velocity
Particle & Acceleration
Uniform Rectilinear-Motion Derivatives of Vector Functions
Uniformly Accelerated Rectilinear- Rectangular Components of Velocity
Motion and Acceleration
Motion of Several Particles: Motion Relative to a Frame in
Relative Motion Translation
Sample Problem 11.4 Tangential and Normal Components
Motion of Several Particles: Radial and Transverse Components
Dependent Motion
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 2

Edition
Tenth
Kinematic relationships are used to

help us determine the trajectory of a
golf ball, the orbital speed of a
satellite, and the accelerations
during acrobatic flying.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2-3

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Tenth
Introduction
• Dynamics includes:
Kinematics: study of the geometry of motion.
Relates displacement, velocity, acceleration, and time without reference
to the cause of motion.
Fthrust
Fdrag
Flift
Kinetics: study of the relations existing between the forces acting on

a body, the mass of the body, and the motion of the body. Kinetics is
used to predict the motion caused by given forces or to determine the
forces required to produce a given motion.
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Introduction
• Particle kinetics includes:
• Rectilinear motion: position, velocity, and acceleration of a

particle as it moves along a straight line.
• Curvilinear motion: position, velocity, and acceleration of a

particle as it moves along a curved line in two or three
dimensions.
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Helpful Videos
Newton’s three laws of motion:
https://youtu.be/mn34mnnDnKU
Position, velocity, acceleration:

https://youtu.be/4dCrkp8qgLU
Horizontal motion:
https://youtu.be/hpWuZh6oTew
Vertical motion:
https://youtu.be/K8iIu2OW7_E
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2-6

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Tenth
Rectilinear Motion: Position, Velocity & Acceleration
• Rectilinear motion: particle moving
along a straight line
• Position coordinate: defined by
positive or negative distance from a
fixed origin on the line.
• The motion of a particle is known if

the position coordinate for particle is
known for every value of time t.
• May be expressed in the form of a
function, e.g.,
x  6t  t
2 3
or in the form of a graph x vs. t.

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Tenth
• Consider particle which occupies position P
at time t and P’ at t+Dt,
Dx
Average velocity 
Dt
Dx
Instantaneous velocity  v  lim
Dt 0 Dt
• Instantaneous velocity may be positive or

negative. Magnitude of velocity is referred
to as particle speed.
• From the definition of a derivative,
Dx dx
v  lim 
Dt 0 Dt dt
e.g., x  6t 2  t 3
dx
v  12t  3t 2
dt
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• Consider particle with velocity v at time t and
v’ at t+Dt,
Dv
Instantaneous acceleration  a  lim
Dt 0 Dt
• Instantaneous acceleration may be:

- positive: increasing positive velocity
or decreasing negative velocity
- negative: decreasing positive velocity
or increasing negative velocity.
• From the definition of a derivative,
Dv dv d 2 x
a  lim   2
Dt 0 Dt dt dt
e.g. v  12t  3t 2
dv
a  12  6t
dt
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• From our example,
x  6t 2  t 3
dx
v  12t  3t 2
dt
dv d 2 x
a   12  6t
dt dt 2
• What are x, v, and a at t = 2 s ?

- at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
• Note that vmax occurs when a=0, and that the

slope of the velocity curve is zero at this point.
• What are x, v, and a at t = 4 s ?
- at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

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Concept Quiz
What is true about the kinematics of a particle?
a) The velocity of a particle is always positive

b) The velocity of a particle is equal to the slope of
the position-time graph
c) If the position of a particle is zero, then the
velocity must zero
d) If the velocity of a particle is zero, then its
acceleration must be zero

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Determination of the Motion of a Particle
• We often determine accelerations from the forces applied

(kinetics will be covered later)
• Generally have three classes of motion
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)
• Can you think of a physical example of when force is a

function of position? When force is a function of velocity?
a spring drag
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Acceleration as a function of time, position, or velocity
If…. Kinematic relationship Integrate
v t
 dv   a t  dt
dv
a  a t   a (t )
dt v0 0
dx dv
dt  and a  v x
 v dv   a  x  dx
v dt
a  a  x
v dv  a  x  dx
v0 x0
v t
dv dv
dt
 a (v ) v a  v   0 dt
a  a v
0
x v
dv
 a v v dv
v
dx x dx  v a  v 
0 0

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Uniform Rectilinear Motion
During free-fall, a parachutist
For a particle in uniform
reaches terminal velocity when
rectilinear motion, the
her weight equals the drag
acceleration is zero and
force. If motion is in a straight
the velocity is constant.
line, this is uniform rectilinear
motion. dx
 v  constant
dt
x t
 dx  v  dt
x0 0
x  x0  vt
x  x0  vt
Careful – these only apply to

uniform rectilinear motion!
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Uniformly Accelerated Rectilinear Motion
If forces applied to a body

are constant (and in a
constant direction), then
you have uniformly
accelerated rectilinear
motion.
Another example is free-

fall when drag is negligible

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Uniformly Accelerated Rectilinear Motion
For a particle in uniformly accelerated rectilinear motion, the
acceleration of the particle is constant. You may recognize these
constant acceleration equations from your physics courses.
v t
dv
dt
 a  constant  dv  a  dt
v0 0
v  v0  at
x t
dx
dt
 v0  at  dx    v0  at  dt
x0 0
x  x0  v0t  12 at 2
v x
dv
v  a  constant  v dv  a  dx v 2  v02  2a  x  x0 
dx v0 x0
Careful – these only apply to uniformly

accelerated rectilinear motion!
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Sample Problem
SOLUTION:
• Integrate twice to find v(t) and y(t).
• Solve for t when velocity equals zero

(time for maximum elevation) and
evaluate corresponding altitude.
• Solve for t when altitude equals zero

Ball tossed with 10 m/s vertical velocity (time for ground impact) and evaluate
from window 20 m above ground. corresponding velocity.
Determine:
• velocity and elevation above ground at
time t,
• highest elevation reached by ball and
corresponding time, and
• time when ball will hit the ground and
corresponding velocity.
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Sample Problem
SOLUTION:
• Integrate twice to find v(t) and y(t).
dv
 a  9.81m s 2
dt
v t  t
 dv    9.81dt vt   v0  9.81t
v0 0
m  m
vt   10   9.81 2  t
s  s 
dy
 v  10  9.81t
dt
y t  t
 dy   10  9.81t dt y t   y0  10t  12 9.81t 2
y0 0
 m  m
yt   20 m  10 t   4.905 2 t 2
 s  s 
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Sample Problem
• Solve for t when velocity equals zero and evaluate
corresponding altitude.
m  m
vt   10   9.81 2  t  0
s  s 
t  1.019s
• Solve for t when altitude equals zero and evaluate

 m  m
y t   20 m  10 t   4.905 2 t 2
 s  s 
 m  m
y  20 m  10 1.019 s    4.905 2 1.019 s 2
 s  s 
y  25.1m

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Sample Problem
• Solve for t when altitude equals zero and evaluate
 m  m
yt   20 m  10 t   4.905 2 t 2  0
 s  s 
t  1.243s meaningless 
t  3.28 s
m  m
vt   10   9.81 2  t
s  s 
m  m
v3.28 s   10   9.81 2  3.28 s 
s  s 
m
v  22.2
s

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Group Problem Solving
SOLUTION:
• Determine the proper kinematic
relationship to apply (is acceleration
a function of time, velocity, or
position?
• Determine the total distance the car
The car starts from rest and accelerates travels in one-half lap
according to the relationship
• Integrate to determine the velocity
a  3  0.001v 2
after one-half lap
It travels around a circular track that has

a radius of 200 meters. Calculate the
velocity of the car after it has travelled
halfway around the track. What is the
car’s maximum possible speed?

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Given: a  3  0.001v 2 Find: v after ½ lap
vo = 0, r = 200 m Maximum speed
Choose the proper kinematic relationship
Acceleration is a function of velocity, and
we also can determine distance. Time is not
involved in the problem, so we choose:
x v
dv
 a v v dv
v
dx x dx  v a  v 
0 0
Determine total distance travelled

x   r  3.14(200)  628.32 m

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Determine the full integral, including limits
x v
v dv 628.32 v
x v a  v 
 v
0
dx
0

0
dx  
0
3  0.001v 2
dv
Evaluate the interval and solve for v

1 2 v
628.32   ln 3  0.001v 
0.002 0
628.32(0.002)  ln 3  0.001v 2   ln 3  0.001(0)
ln 3  0.001v 2   1.2566  1.0986=  0.15802
Take the exponential of each side 3  0.001v 2  e0.15802

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Solve for v 3  0.001v 2  e0.15802
3  e0.15802
v 
2
 2146.2 v  46.3268 m/s
0.001
How do you determine the maximum speed the car can reach?
Velocity is a maximum when a  3  0.001v 2
acceleration is zero
This occurs when 0.001v 2  3
vmax  3
0.001 vmax  54.772 m/s

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Motion of Several Particles
We may be interested in the motion of several different particles,
whose motion may be independent or linked together.

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Motion of Several Particles: Relative Motion
• For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.
xB A  xB  x A  relative position of B
with respect to A
xB  x A  xB A
vB A  vB  v A  relative velocity of B
with respect to A
vB  v A  vB A
a B A  a B  a A  relative acceleration of B
with respect to A
aB  a A  aB A
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Sample Problem
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
• Substitute initial position and constant

velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of • Write equation for relative position of
18 m/s. At same instant, open-platform ball with respect to elevator and solve
elevator passes 5 m level moving for zero relative position, i.e., impact.
upward at 2 m/s.
• Substitute impact time into equation
Determine (a) when and where ball hits for position of elevator and relative
elevator and (b) relative velocity of ball velocity of ball with respect to
and elevator at contact. elevator.
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Sample Problem
SOLUTION:
• Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
m  m
v B  v0  at  18   9.81 2 t
s  s 
 m  m
y B  y0  v0t  12 at 2  12 m  18 t   4.905 2 t 2
 s  s 
• Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear motion.
m
vE  2
s
 m
y E  y0  v E t  5 m   2 t
 s

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Sample Problem
• Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.
yB E  
 12  18t  4.905t 2  5  2t   0
t  0.39 s meaningless 
t  3.65 s
• Substitute impact time into equations for position of elevator

and relative velocity of ball with respect to elevator.
y E  5  23.65
y E  12.3 m
v B E  18  9.81t   2
 16  9.813.65
m
vB E  19.81
s
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Motion of Several Particles: Dependent Motion
• Position of a particle may depend on position of one
or more other particles.
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A  2 x B  constant (one degree of freedom)
• Positions of three blocks are dependent.
2 x A  2 xB  xC  constant (two degrees of freedom)
• For linearly related positions, similar relations hold

between velocities and accelerations.
dx A dx dx
2  2 B  C  0 or 2v A  2v B  vC  0
dt dt dt
dv dv dv
2 A  2 B  C  0 or 2a A  2a B  aC  0
dt dt dt
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Tenth
Helpful Video
Dependent motion (Pulley system):
https://youtu.be/yea9zNCTQGQ

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Tenth
Slider block A moves to the left with a
constant velocity of 6 m/s. Determine the
velocity of block B.
Solution steps
• Sketch your system and choose

coordinate system
• Write out constraint equation
• Differentiate the constraint equation to
get velocity

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Given: vA= 6 m/s left Find: vB
xA This length is constant no
matter how the blocks move
Sketch your system and choose coordinates

yB
Define your constraint equation(s)
x A  3 yB  constants  L
Differentiate the constraint equation to

get velocity
6 m/s + 3vB  0
v B  2 m/s 
Note that as xA gets bigger, yB gets smaller.
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Graphical Solution of Rectilinear-Motion Problems
• Given the x-t curve, the v-t curve is

equal to the x-t curve slope.
• Given the v-t curve, the a-t curve is

equal to the v-t curve slope.

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Graphical Solution of Rectilinear-Motion Problems
• Given the a-t curve, the change in velocity between t1 and t2 is

equal to the area under the a-t curve between t1 and t2.
• Given the v-t curve, the change in position between t1 and t2 is

equal to the area under the v-t curve between t1 and t2.

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Curvilinear Motion: Position, Velocity & Acceleration
The softball and the car both undergo

curvilinear motion.
• A particle moving along a curve other than a

straight line is in curvilinear motion.
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Tenth
• The position vector of a particle at time t is defined by a vector between
origin O of a fixed reference frame and the position occupied by particle.

• Consider a particle which occupies position P defined by r at time t

and P’ defined by r  at t + Dt,

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Instantaneous velocity Instantaneous speed
(vector) (scalar)
Dr dr Ds ds
v  lim  v  lim 
D t  0 Dt dt D t  0 Dt dt

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Tenth
 
• Consider velocity v of a particle at time t and velocity v  at t + Dt,
Dv dv
a  lim   instantaneous acceleration (vector)
Dt  0 Dt dt
• In general, the acceleration vector is not tangent

to the particle path and velocity vector.
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Rectangular Components of Velocity & Acceleration
• When position vector of particle P is given by its
rectangular components,
   
r  xi  y j  zk
• Velocity vector,
 dx  dy  dz    
v  i  j  k  xi  y j  zk
dt dt dt
  
 vx i  v y j  vz k
• Acceleration vector,
 d 2 x d 2 y  d 2 z    
a  2 i  2 j  2 k  xi  y j  zk
dt dt dt
  
 ax i  a y j  az k

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Rectangular Components of Velocity & Acceleration
• Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,
a x  x  0 a y  y   g a z  z  0
with initial conditions,
x0  y 0  z 0  0 v x 0 , v y  , v z 0  0
0
Integrating twice yields

v x  v x 0 v y  v y   gt vz  0
0
x  v x 0 t y  v y  y  12 gt 2 z0
0
• Motion in horizontal direction is uniform.

• Motion in vertical direction is uniformly accelerated.
• Motion of projectile could be replaced by two

independent rectilinear motions.
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Tenth
Helpful video
Projectile Motion:
https://youtu.be/aY8z2qO44WA
Example:
https://youtu.be/Dc34eSc8kPA

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Tenth
Sample Problem
SOLUTION:
• Consider the vertical and horizontal motion
separately (they are independent)
• Apply equations of motion in y-direction
• Apply equations of motion in x-direction
• Determine time t for projectile to hit the

A projectile is fired from the edge
ground, use this to find the horizontal
of a 150-m cliff with an initial
distance
velocity of 180 m/s at an angle of
30°with the horizontal. Neglecting • Maximum elevation occurs when vy=0
air resistance, find (a) the horizontal
distance from the gun to the point
where the projectile strikes the
ground, (b) the greatest elevation
above the ground reached by the
projectile.
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Tenth
Sample Problem
SOLUTION:
Given: (v)o =180 m/s (y)o =150 m

(a)y = - 9.81 m/s2 (a)x = 0 m/s2
Vertical motion – uniformly accelerated:
Horizontal motion – uniformly accelerated:

Choose positive x to the right as shown

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Tenth
Sample Problem
SOLUTION:
Horizontal distance
Projectile strikes the ground at:
Substitute into equation (1) above
Solving for t, we take the positive root
Substitute t into equation (4)
Maximum elevation occurs when vy=0
Maximum elevation above the ground =

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Tenth
SOLUTION:
A baseball pitching machine • Consider the vertical and horizontal motion
“throws” baseballs with a separately (they are independent)
horizontal velocity v0. If you
want the height h to be 42 in., • Apply equations of motion in y-direction
determine the value of v0.
• Apply equations of motion in x-direction
• Determine time t for projectile to fall to 42

inches
• Calculate v0=0
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Tenth
Given: x= 40 ft, yo = 5 ft,
yf= 42 in.
Find: vo
Analyze the motion in Analyze the motion in

the y-direction the x-direction
1 2
y f  y0  (0)t  gt x  0  (vx )0 t  v0t
2
1 2
3.5  5  gt 40 ft  (v0 )(0.305234 s)
2
1 v0  131.047 ft/s  89.4 mi/h
1.5 ft   (32.2 ft/s 2 )t 2
2
t  0.305234 s

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Tangential and Normal Components
If we have an idea of the path of a vehicle, it is often convenient

to analyze the motion using tangential and normal components
(sometimes called path coordinates).

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Tenth
Helpful Videos
Normal acceleration:
https://www.youtube.com/watch?v=aJ6P9beSgDc
https://www.youtube.com/watch?v=zW3KCKOXe0k

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Tenth
Tangential and Normal Components
y
r= the instantaneous
radius of curvature
v  v et
en v= vt et dv v2
et a  et  en
dt r
x
• The tangential direction (et) is tangent to the path of the
particle. This velocity vector of a particle is in this direction
• The normal direction (en) is perpendicular to et and points
towards the inside of the curve.
• The acceleration can have components in both the en and et directions
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Tenth
Sample Problem
SOLUTION:
• Define your coordinate system
• Calculate the tangential velocity and

tangential acceleration
• Calculate the normal acceleration
A motorist is traveling on a curved • Determine overall acceleration magnitude

section of highway of radius 2500 ft after the brakes have been applied
at the speed of 60 mi/h. The motorist
suddenly applies the brakes, causing
the automobile to slow down at a
constant rate. Knowing that after 8 s
the speed has been reduced to 45
mi/h, determine the acceleration of
the automobile immediately after the
brakes have been applied.
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Tenth
Sample Problem
SOLUTION: • Define your coordinate system
• Determine velocity and acceleration in
the tangential direction
et
en
• The deceleration constant, therefore
• Immediately after the brakes are applied,

the speed is still 88 ft/s
a  an2  at2  2.752  3.102

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Tenth
SOLUTION:
• Define your coordinate system

• Calculate the tangential velocity and
tangential acceleration
• Calculate the normal acceleration
• Determine overall acceleration

The tangential acceleration of the magnitude
centrifuge cab is given by
at  0.5 t (m/s 2 )
where t is in seconds and at is in
m/s2. If the centrifuge starts from
fest, determine the total acceleration
magnitude of the cab after 10
seconds.

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Tenth
Define your coordinate system
In the side view, the tangential
direction points into the “page”
en
Determine the tangential velocity
at  0.5 t
t
vt   0.5 t dt  0.25t 2 t
 0.25t 2 Top View
0 0
vt  0.25 10   25 m/s

2
et
Determine the normal acceleration en
 t  252
2
v
an   2
 78.125 m/s
r 8
Determine the total acceleration magnitude
amag  an2  at2  78.1252 + (0.5)(10)

2
amag  78.285 m/s2
Edition
Tenth
Radial and Transverse Components
By knowing the distance to the aircraft and the
angle of the radar, air traffic controllers can
track aircraft.
Fire truck ladders can rotate as well as extend;

the motion of the end of the ladder can be
analyzed using radial and transverse
components.

Edition
Tenth
Helpful videos
Radial and Transverse Components:

https://www.youtube.com/watch?v=iwtfcyRZZRY
https://www.youtube.com/watch?v=Ad7V6MFPQcM

Edition
Tenth
Radial and Transverse Components
• The position of a particle P is
expressed as a distance r from the
origin O to P – this defines the
radial direction er. The transverse
direction eq is perpendicular to er
 
r  re r
• The particle velocity vector is
v  r er  rq eq
• The particle acceleration vector is
 
a  r  rq 2 er  rq  2rq eq  
Edition
Tenth
Sample Problem
SOLUTION:
• Evaluate time t for q = 30o.
• Evaluate radial and angular positions,
and first and second derivatives at
time t.
Rotation of the arm about O is defined • Calculate velocity and acceleration in
by q = 0.15t2 where q is in radians and t cylindrical coordinates.
in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is • Evaluate acceleration with respect to
in meters. arm.
After the arm has rotated through 30o,

determine (a) the total velocity of the
collar, (b) the total acceleration of the
collar, and (c) the relative acceleration
of the collar with respect to the arm.
Edition
Tenth
Sample Problem
SOLUTION:
• Evaluate time t for q = 30o.
q  0.15t 2
 30  0.524 rad t  1.869 s
• Evaluate radial and angular positions, and first

and second derivatives at time t.
r  0.9  0.12 t 2  0.481 m
r  0.24 t  0.449 m s
r  0.24 m s 2
q  0.15 t 2  0.524 rad

q  0.30 t  0.561rad s
q  0.30 rad s 2

Edition
Tenth
Sample Problem
• Calculate velocity and acceleration.
vr  r  0.449 m s
vq  rq  0.481m 0.561rad s   0.270 m s
v
v  vr2  vq2   tan 1 q
vr
v  0.524 m s   31.0
ar  r  rq 2
 0.240 m s 2  0.481m 0.561rad s 2
 0.391m s 2
aq  rq  2rq
 
 0.481m  0.3 rad s 2  2 0.449 m s 0.561rad s 
 0.359 m s 2
a
a  ar2  aq2   tan 1 q
ar
a  0.531m s   42.6
Edition
Tenth
Sample Problem
• Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.
a B OA  r  0.240 m s 2

Dynamics: Vector Mechanics For Engineers

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Tenth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 2

Kinematic relationships are used to

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2-3

Kinetics: study of the relations existing between the forces acting on

• Rectilinear motion: position, velocity, and acceleration of a

• Curvilinear motion: position, velocity, and acceleration of a

Position, velocity, acceleration:

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2-6

• The motion of a particle is known if

or in the form of a graph x vs. t.

• Instantaneous velocity may be positive or

• Instantaneous acceleration may be:

• What are x, v, and a at t = 2 s ?

• Note that vmax occurs when a=0, and that the

- at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

What is true about the kinematics of a particle?

a) The velocity of a particle is always positive

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 11

• We often determine accelerations from the forces applied

• Can you think of a physical example of when force is a

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 13

Careful – these only apply to

If forces applied to a body

Another example is free-

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 15

Careful – these only apply to uniformly

• Solve for t when velocity equals zero

• Solve for t when altitude equals zero

• Solve for t when altitude equals zero and evaluate

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 19

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 20

It travels around a circular track that has

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 21

Determine total distance travelled

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 22

Evaluate the interval and solve for v

628.32(0.002)  ln 3  0.001v 2   ln 3  0.001(0)

ln 3  0.001v 2   1.2566  1.0986=  0.15802

Take the exponential of each side 3  0.001v 2  e0.15802

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 23

This occurs when 0.001v 2  3

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 24

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 25

• Substitute initial position and constant

• Substitute initial position and constant velocity of

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 28

• Substitute impact time into equations for position of elevator

• For linearly related positions, similar relations hold

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 31

• Sketch your system and choose

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 32

Sketch your system and choose coordinates

Differentiate the constraint equation to

• Given the x-t curve, the v-t curve is

• Given the v-t curve, the a-t curve is

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 34

• Given the a-t curve, the change in velocity between t1 and t2 is

• Given the v-t curve, the change in position between t1 and t2 is

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 35

The softball and the car both undergo